Added basic calibration framework: pending servo integration and tying of encoders.

include/calibration.hpp

@@ -0,0 +1,25 @@
+#ifndef CALIBRATION_H
+#define CALIBRATION_H
+#include <atomic>
+#include "encoder.hpp"
+
+class Calibration {
+  public:
+    void init();
+    void beginDownwardCalib() {startTicks = topEnc.getCount();}
+    bool completeCalib();
+    int32_t convertToTicks(int8_t steps10);
+    bool getCalibrated() {return calibrated;}
+    void clearCalibrated();
+    Calibration(Encoder& enc):topEnc(enc) {};
+
+  private:
+    std::atomic<bool> calibrated;
+    std::atomic<int32_t> UpMinusDownTicks;
+    int32_t startTicks;
+    Encoder& topEnc;
+};
+
+extern Calibration calib;
+
+#endif